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Reimplementation of P setpoint weight. Applied to S rates now for nicer feel

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borisbstyle 2016-09-08 16:55:34 +02:00
parent bbd0b67134
commit 0d1cc8f448
7 changed files with 31 additions and 24 deletions
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src/main/flight/pid.h
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@ -98,7 +98,7 @@ typedef struct pidProfile_s {
uint8_t toleranceBandReduction; // Lowest possible P and D reduction in percentage
uint8_t zeroCrossAllowanceCount; // Amount of bouncebacks within tolerance band allowed before reduction kicks in
uint8_t itermThrottleGain; // Throttle coupling to iterm. Quick throttle changes will bump iterm
uint8_t ptermSetpointWeight; // Setpoint weight for Pterm (lower means more PV tracking)
uint8_t ptermSRateWeight; // Setpoint super expo ratio for Pterm (lower means that pretty much only P has super expo rates)
uint8_t dtermSetpointWeight; // Setpoint weight for Dterm (0= measurement, 1= full error, 1 > agressive derivative)
uint16_t yawRateAccelLimit; // yaw accel limiter for deg/sec/ms
uint16_t rateAccelLimit; // accel limiter roll/pitch deg/sec/ms